Application: kinect-3d-slam

1. Description

This is a very simple program written in 2 hours just to illustrate the capabilities of Xbox Kinect to perform Visual SLAM with the MRPT libraries. It is not supposed to be used for even medium-sized maps.

Usage: 
– Point to some static, near object.
– Press ‘r’ to reset the map.
– Start moving the Kinect slowly. Take care that at least 3-5 features exist at all time.

Working principle: The program creates a “key-frame” for each 10cm or 10deg the camera moves, then establish the 6D relative pose of the camera to the set of tracked features at the last “key-frame”.

Source code: https://raw.github.com/jlblancoc/mrpt/master/apps/kinect-3d-slam/kinect-3d-slam_…

2. Video

2 comments on “Application: kinect-3d-slam
  1. Ankit says:

    Hello,

    I am student and in my final year project I have to do same work.
    Kinect is given to me and one robot is there name Dr Robot Jaguar.
    but in first step i have to recognize object to the kinect then measure the distance and then create map.
    I have no idea about programming language.
    If possible then please guide me that how can i develop simple slam algorithm for kinect.
    how should i start my work, from last 1 months i am referring only documents.

    Thank you very much.

    with Regards,
    Ankit.

Leave a Reply

Your email address will not be published. Required fields are marked *

*

You may use these HTML tags and attributes: <a href="" title=""> <abbr title=""> <acronym title=""> <b> <blockquote cite=""> <cite> <code class="" title="" data-url=""> <del datetime=""> <em> <i> <q cite=""> <strike> <strong> <pre class="" title="" data-url=""> <span class="" title="" data-url="">

Search C++ API:

 

Share

Latest blog entries

Recent activity

Stats

stats
(more)

web stats